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            <small>
              <a href="#Procedure">Procedure<br></a>
              <a href="#Abstract">Abstract<br></a>
              <a href="#Required_Reading">Required_Reading<br></a>
              <a href="#Keywords">Keywords<br></a>
              <a href="#Brief_I/O">Brief_I/O<br></a>
              <a href="#Detailed_Input">Detailed_Input<br></a>

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              <small>               <a href="#Detailed_Output">Detailed_Output<br></a>
              <a href="#Parameters">Parameters<br></a>
              <a href="#Exceptions">Exceptions<br></a>
              <a href="#Files">Files<br></a>
              <a href="#Particulars">Particulars<br></a>
              <a href="#Examples">Examples<br></a>

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              <small>               <a href="#Restrictions">Restrictions<br></a>
              <a href="#Literature_References">Literature_References<br></a>
              <a href="#Author_and_Institution">Author_and_Institution<br></a>
              <a href="#Version">Version<br></a>
              <a href="#Index_Entries">Index_Entries<br></a>
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<h4><a name="Procedure">Procedure</a></h4>
<PRE>
   void dcyldr_c ( SpiceDouble    x,
                   SpiceDouble    y,
                   SpiceDouble    z,
                   SpiceDouble    jacobi[3][3] )   

</PRE>
<h4><a name="Abstract">Abstract</a></h4>
<PRE>
 
   This routine computes the Jacobian of the transformation from 
   rectangular to cylindrical coordinates. 
 </PRE>
<h4><a name="Required_Reading">Required_Reading</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Keywords">Keywords</a></h4>
<PRE>
 
   COORDINATES 
   DERIVATIVES 
   MATRIX 
 

</PRE>
<h4><a name="Brief_I/O">Brief_I/O</a></h4>
<PRE>
 
   Variable  I/O  Description 
   --------  ---  -------------------------------------------------- 
   x          I   X-coordinate of point. 
   y          I   Y-coordinate of point. 
   z          I   Z-coordinate of point. 
   jacobi     O   Matrix of partial derivatives. 
 </PRE>
<h4><a name="Detailed_Input">Detailed_Input</a></h4>
<PRE>
 
   x, 
   y, 
   z          are the rectangular coordinates of the point at 
              which the Jacobian of the map from rectangular 
              to cylindrical coordinates is desired. 
 </PRE>
<h4><a name="Detailed_Output">Detailed_Output</a></h4>
<PRE>
 
   jacobi     is the matrix of partial derivatives of the conversion 
              between rectangular and cylindrical coordinates.  It 
              has the form 
 
                 .-                            -. 
                 |  dr  /dx   dr  /dy  dr  /dz  | 
                 |  dlon/dx   dlon/dy  dlon/dz  | 
                 |  dz  /dx   dz  /dy  dz  /dz  | 
                 `-                            -' 
 
              evaluated at the input values of x, y, and z. 
 </PRE>
<h4><a name="Parameters">Parameters</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Exceptions">Exceptions</a></h4>
<PRE>
 
   1) If the input point is on the z-axis (x and y = 0), the 
      Jacobian is undefined.  The error SPICE(POINTONZAXIS) 
      will be signaled. 
 </PRE>
<h4><a name="Files">Files</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Particulars">Particulars</a></h4>
<PRE>
 
   When performing vector calculations with velocities it is 
   usually most convenient to work in rectangular coordinates. 
   However, once the vector manipulations have been performed, 
   it is often desirable to convert the rectangular representations 
   into cylindrical coordinates to gain insights about phenomena 
   in this coordinate frame. 
 
   To transform rectangular velocities to derivatives of 
   coordinates in a cylindrical system, one uses the Jacobian 
   of the transformation between the two systems. 
 
   Given a state in rectangular coordinates 
 
      ( x, y, z, dx, dy, dz ) 
 
   the velocity in cylindrical coordinates is given by the matrix  
   equation: 
 
                    t          |                     t 
      (dr, dlon, dz)   = jacobi|       * (dx, dy, dz) 
                               |(x,y,z) 
 
   This routine computes the matrix  
 
            | 
      jacobi| 
            |(x,y,z) 
 </PRE>
<h4><a name="Examples">Examples</a></h4>
<PRE>
 
   Suppose one is given the bodyfixed rectangular state of an object 
   (x(t), y(t), z(t), dx(t), dy(t), dz(t)) as a function of time t. 
 
   To find the derivatives of the coordinates of the object in 
   bodyfixed cylindrical coordinates, one simply multiplies the 
   Jacobian of the transformation from rectangular to cylindrical 
   coordinates (evaluated at x(t), y(t), z(t)) by the rectangular  
   velocity vector of the object at time t. 
 
   In code this looks like: 

      #include &quot;SpiceUsr.h&quot;
            .
            .
            .
      /.
      Load the rectangular velocity vector vector recv. 
      ./ 
      recv[0] = dx ( t );
      recv[1] = dy ( t );
      recv[2] = dz ( t );
 
      /.
      Determine the Jacobian of the transformation from 
      rectangular to cylindrical coordinates at the  
      given rectangular coordinates at time T. 
      ./ 
      <b>dcyldr_c</b> ( x(t), y(t), z(t), jacobi );
 
      /.
      Multiply the Jacobian on the right by the rectangular 
      velocity to obtain the cylindrical coordinate derivatives 
      cylv. 
      ./ 
      <a href="mxv_c.html">mxv_c</a> ( jacobi, recv, cylv );
 
 </PRE>
<h4><a name="Restrictions">Restrictions</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Literature_References">Literature_References</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Author_and_Institution">Author_and_Institution</a></h4>
<PRE>
 
   W.L. Taber     (JPL) 
   N.J. Bachman   (JPL)
</PRE>
<h4><a name="Version">Version</a></h4>
<PRE>
 
   -CSPICE Version 1.0.0, 19-JUL-2001 (WLT) (NJB)
</PRE>
<h4><a name="Index_Entries">Index_Entries</a></h4>
<PRE>
 
   Jacobian of cylindrical w.r.t. rectangular coordinates 
 </PRE>
<h4>Link to routine dcyldr_c source file <a href='../../../src/cspice/dcyldr_c.c'>dcyldr_c.c</a> </h4>

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   <pre>Wed Jun  9 13:05:21 2010</pre>

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